Apparatus and methods are described for use with an endoluminal device that includes one or more radiopaque portions and that moves through a lumen of a subject. A sequence of radiographic images of a portion of the subject's body, in which the lumen is disposed, is acquired, during movement of the endoluminal device through the lumen. Locations at which the one or more radiopaque portions of the endoluminal device were imaged during the movement of the endoluminal device through the lumen are identified, by analyzing the sequence of radiographic images. A set of locations at which the one or more radiopaque portions were disposed during the movement of the endoluminal device through the lumen is defined, and an endoluminal path of the device through the lumen is estimated based upon the set of locations. Other applications are also described.
A61B 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A61B 5/00 - Measuring for diagnostic purposes Identification of persons
A61B 6/00 - Apparatus or devices for radiation diagnosisApparatus or devices for radiation diagnosis combined with radiation therapy equipment
A61B 6/12 - Arrangements for detecting or locating foreign bodies
A61B 8/00 - Diagnosis using ultrasonic, sonic or infrasonic waves
A61B 8/12 - Diagnosis using ultrasonic, sonic or infrasonic waves in body cavities or body tracts, e.g. by using catheters
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61M 25/01 - Introducing, guiding, advancing, emplacing or holding catheters
Apparatus and methods are described including a processor (20) configured to receive first and second sets of extraluminal images of a lumen, the second set being acquired while an endoluminal device is being moved through the lumen. The processor designates at least one of the first set of images as a roadmap image, and designates, within the lumen in the roadmap image, a roadmap pathway (42). A plurality of features (44, 46, 48, 50) that are visible within at least some of the second set of extraluminal images are identified, and an arrangement of three or more of the features within the image are compared to a shape of at least a portion of the roadmap pathway. Based upon the comparing, the identified features are mapped to locations along the roadmap pathway within the roadmap image. Other applications are also described.
It will be appreciated by persons skilled in the art that the present invention is not limited to what has been particularly shown and described hereinabove. Rather, the scope of the present invention includes both combinations and subcombinations of the various features described hereinabove, as well as variations and modifications thereof that are not in the prior art, which would occur to persons skilled in the art upon reading the foregoing description.
A61B 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A61B 5/00 - Measuring for diagnostic purposes Identification of persons
A61B 6/00 - Apparatus or devices for radiation diagnosisApparatus or devices for radiation diagnosis combined with radiation therapy equipment
A61B 6/12 - Arrangements for detecting or locating foreign bodies
A61B 8/00 - Diagnosis using ultrasonic, sonic or infrasonic waves
A61B 8/12 - Diagnosis using ultrasonic, sonic or infrasonic waves in body cavities or body tracts, e.g. by using catheters
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61M 25/01 - Introducing, guiding, advancing, emplacing or holding catheters
Apparatus and methods are described including an endoluminal device configured to move along a portion of a lumen of a subject's body, an extraluminal imaging device, and at least one computer processor. While the endoluminal device moves along the portion of the lumen, a display displays an extraluminal image of the lumen in which a first indication of a location of the lumen is shown. The extraluminal imaging device acquires a sequence of extraluminal images of the endoluminal device moving along the portion of the lumen. The indication of the location of the lumen that is displayed is updated based upon the acquired sequence of extraluminal images, and the acquired sequence of images is displayed with the updated indication of the location of the lumen overlaid upon the images. Other applications are also described.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61B 6/12 - Arrangements for detecting or locating foreign bodies
A61B 8/12 - Diagnosis using ultrasonic, sonic or infrasonic waves in body cavities or body tracts, e.g. by using catheters
Apparatus and methods are described for use with a tool that is inserted into a portion of a body of a subject that undergoes cyclic motion. The apparatus and methods include using an imaging device, acquiring a plurality of images of the tool inside the portion of the body, at respective phases of the cyclic motion. Using at least one computer processor, an extent of movement of the tool with respect to the portion of the body that is due to the cyclic motion of the portion of the body is determined. In response thereto, an output is generated that is indicative of the determined extent of the movement of the tool with respect to the portion of the body. Other applications are also described.
Apparatus and methods are described for use with an imaging device (12) configured to acquire a set of angiographic images of a lumen. At least one processor (10) includes blood-velocity-determination functionality (16) that determines blood velocity within the lumen, via image processing. Current-flow-related-parameter-determination functionality (18) determines a value of a flow-related parameter at the location based upon the determined blood velocity. Flow-related-parameter-receiving functionality (19) receives an indication of a value of a second flow-related parameter of the subject, and index-determination functionality (21) determines a value of a luminal-flow-related index of the subject at the location, by determining a relationship between the value of the current flow-related parameter and the value of the second flow-related parameter. Other applications are also described.
A61B 6/00 - Apparatus or devices for radiation diagnosisApparatus or devices for radiation diagnosis combined with radiation therapy equipment
A61B 6/12 - Arrangements for detecting or locating foreign bodies
A61B 6/50 - Apparatus or devices for radiation diagnosisApparatus or devices for radiation diagnosis combined with radiation therapy equipment specially adapted for specific body partsApparatus or devices for radiation diagnosisApparatus or devices for radiation diagnosis combined with radiation therapy equipment specially adapted for specific clinical applications
A61B 17/00 - Surgical instruments, devices or methods
A61B 17/22 - Implements for squeezing-off ulcers or the like on inner organs of the bodyImplements for scraping-out cavities of body organs, e.g. bonesSurgical instruments, devices or methods for invasive removal or destruction of calculus using mechanical vibrationsSurgical instruments, devices or methods for removing obstructions in blood vessels, not otherwise provided for
A61F 2/958 - Inflatable balloons for placing stents or stent-grafts
7.
Apparatus and methods for mapping a sequence of images to a roadmap image
Apparatus and methods are described including a processor (20) configured to receive first and second sets of extraluminal images of a lumen, the second set being acquired while an endoluminal device is being moved through the lumen. The processor designates at least one of the first set of images as a roadmap image, and designates, within the lumen in the roadmap image, a roadmap pathway (42). A plurality of features (44, 46, 48, 50) that are visible within at least some of the second set of extraluminal images are identified, and an arrangement of three or more of the features within the image are compared to a shape of at least a portion of the roadmap pathway. Based upon the comparing, the identified features are mapped to locations along the roadmap pathway within the roadmap image. Other applications are also described.
A61B 5/06 - Devices, other than using radiation, for detecting or locating foreign bodies
A61B 8/12 - Diagnosis using ultrasonic, sonic or infrasonic waves in body cavities or body tracts, e.g. by using catheters
G06T 7/33 - Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
Apparatus and methods are described including receiving, via a computer processor, at least one image of a portion of a subject's body. One or more features that are present within the image of the portion of the subject's body, and that were artificially added to the image subsequent to acquisition of the image, are identified. In response thereto, an output is generated on an output device.
Apparatus and methods are described including, using a computer processor, automatically identifying whether a given pixel within an image corresponds to a portion of an object. A set of concentric circles that are disposed around the pixel are sampled, and a first function is applied to each of the circles such that the circles are defined by a first set of rotationally invariant descriptors. A second function is applied to the set of circles to generate a second set of descriptors, each of which represents a difference between respective pairs of the circles. A third function is applied such that the second set of descriptors becomes rotationally invariant. The processor identifies whether the given pixel corresponds to the portion of the object, based upon the first and second sets of rotationally invariant descriptors. Other applications are also described.
Apparatus and methods are provided for use with an endoluminal data-acquisition device that acquires a set of endoluminal data-points of a lumen of a subject's body at respective locations inside the lumen, a second endoluminal device, and a display configured to display images. At least one processor includes location-association functionality that associates a given data point acquired by the endoluminal data-acquisition device with a given location within the lumen. Location-determination functionality determines, by means of image processing, in an extraluminal image of the second endoluminal device, a current location of at least a portion of the second endoluminal device. Display-driving functionality drives the display to display an indication of the endoluminal data point associated with the location, in response to determining that the portion of the second device is currently at the location. Other applications are also described.
G09G 5/36 - Control arrangements or circuits for visual indicators common to cathode-ray tube indicators and other visual indicators characterised by the display of individual graphic patterns using a bit-mapped memory
G06T 19/20 - Editing of 3D images, e.g. changing shapes or colours, aligning objects or positioning parts
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopesIlluminating arrangements therefor
A61B 6/12 - Arrangements for detecting or locating foreign bodies
Apparatus and methods are described including receiving, via a computer processor, at least one image of a portion of a subject's body. One or more features that are present within the image of the portion of the subject's body, and that were artificially added to the image subsequent to acquisition of the image, are identified. In response thereto, an output is generated on an output device.
c) that are disposed around the pixel are sampled, and a first function is applied to each of the circles such that the circles are defined by a first set of rotationally invariant descriptors. A second function is applied to the set of circles to generate a second set of descriptors, each of which represents a difference between respective pairs of the circles. A third function is applied such that the second set of descriptors becomes rotationally invariant. The processor identifies whether the given pixel corresponds to the portion of the object, based upon the first and second sets of rotationally invariant descriptors. Other applications are also described.
Apparatus and methods are described for use with an endoluminal device (26) that includes one or more radiopaque portions (27) and that moves through a lumen of a subject. A sequence of radiographic images of a portion of the subject's body, in which the lumen is disposed, is acquired, during movement of the endoluminal device through the lumen. Locations at which the one or more radiopaque portions of the endoluminal device were imaged during the movement of the endoluminal device through the lumen are identified, by analyzing the sequence of radiographic images. A set of locations at which the one or more radiopaque portions were disposed during the movement of the endoluminal device through the lumen is defined, and an endoluminal path (100) of the device through the lumen is estimated based upon the set of locations. Other applications are also described.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61B 8/12 - Diagnosis using ultrasonic, sonic or infrasonic waves in body cavities or body tracts, e.g. by using catheters
A61B 8/00 - Diagnosis using ultrasonic, sonic or infrasonic waves
14.
Estimating the endoluminal path of an endoluminal device along a lumen
Apparatus and methods are described for use with an endoluminal device that includes one or more radiopaque portions and that moves through a lumen of a subject. A sequence of radiographic images of a portion of the subject's body, in which the lumen is disposed, is acquired, during movement of the endoluminal device through the lumen. Locations at which the one or more radiopaque portions of the endoluminal device were imaged during the movement of the endoluminal device through the lumen are identified, by analyzing the sequence of radiographic images. A set of locations at which the one or more radiopaque portions were disposed during the movement of the endoluminal device through the lumen is defined, and an endoluminal path of the device through the lumen is estimated based upon the set of locations. Other applications are also described.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61B 8/00 - Diagnosis using ultrasonic, sonic or infrasonic waves
Apparatus and methods are described including an endoluminal device configured to move along a portion of a lumen of a subject's body, an extraluminal imaging device, and at least one computer processor. While the endoluminal device moves along the portion of the lumen, a display displays an extraluminal image of the lumen in which a first indication of a location of the lumen is shown. The extraluminal imaging device acquires a sequence of extraluminal images of the endoluminal device moving along the portion of the lumen. The indication of the location of the lumen that is displayed is updated based upon the acquired sequence of extraluminal images, and the acquired sequence of images is displayed with the updated indication of the location of the lumen overlaid upon the images. Other applications are also described.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61B 6/12 - Arrangements for detecting or locating foreign bodies
A61B 8/12 - Diagnosis using ultrasonic, sonic or infrasonic waves in body cavities or body tracts, e.g. by using catheters
c) that are disposed around the pixel are sampled, and a first function is applied to each of the circles such that the circles are defined by a first set of rotationally invariant descriptors. A second function is applied to the set of circles to generate a second set of descriptors, each of which represents a difference between respective pairs of the circles. A third function is applied such that the second set of descriptors becomes rotationally invariant. The processor identifies whether the given pixel corresponds to the portion of the object, based upon the first and second sets of rotationally invariant descriptors. Other applications are also described.
Apparatus and methods are described including receiving, via a computer processor, at least one image of a portion of a subject's body. One or more features that are present within the image of the portion of the subject's body, and that were artificially added to the image subsequent to acquisition of the image, are identified. In response thereto, an output is generated on an output device.
Apparatus and methods are described including, using a computer processor (28), automatically identifying whether a given pixel (111) within an image corresponds to a portion of an object. A set of concentric circles (132a-c) that are disposed around the pixel are sampled, and a first function is applied to each of the circles such that the circles are defined by a first set of rotationally invariant descriptors. A second function is applied to the set of circles to generate a second set of descriptors, each of which represents a difference between respective pairs of the circles. A third function is applied such that the second set of descriptors becomes rotationally invariant. The processor identifies whether the given pixel corresponds to the portion of the object, based upon the first and second sets of rotationally invariant descriptors. Other applications are also described.
Apparatus and methods are described for use with an image of at least one blood vessel (50) of a subject including, using at least one computer processor (28), determining a presence of a device (55) within at least a portion of the blood vessel within the image. The computer processor determines a classification of the device as a given type of device, and, based upon the classification of the device as the given type of device, designates a parameter to be calculated. The computer processor automatically calculates the designated parameter, and generates an output on an output device (40) in response to the calculated parameter. Other applications are also described.
Apparatus and methods are described, including, using an imaging device, acquiring a plurality of images of a portion of a body of a subject. Using a processor, a first feature within each of the images is aligned. At least one enhanced image that is enhanced with respect to the first feature is generated, using the aligned images. Visibility of a second feature is reduced in the enhanced image, and the at least one image that is enhanced with respect to the first feature is displayed upon a display. Other applications are also described.
A61B 17/12 - Surgical instruments, devices or methods for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels or umbilical cord
G06T 11/60 - Editing figures and textCombining figures or text
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
A61B 8/00 - Diagnosis using ultrasonic, sonic or infrasonic waves
A61B 18/02 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by cooling, e.g. cryogenic techniques
A61B 18/24 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser the beam being directed along or through a flexible conduit, e.g. an optical fibreHand-pieces therefor with a catheter
A61B 17/00 - Surgical instruments, devices or methods
A61B 17/22 - Implements for squeezing-off ulcers or the like on inner organs of the bodyImplements for scraping-out cavities of body organs, e.g. bonesSurgical instruments, devices or methods for invasive removal or destruction of calculus using mechanical vibrationsSurgical instruments, devices or methods for removing obstructions in blood vessels, not otherwise provided for
A61F 2/958 - Inflatable balloons for placing stents or stent-grafts
21.
Identification and presentation of device-to-vessel relative motion
Apparatus and methods are described for use with a tool that is inserted into a portion of a body of a subject that undergoes cyclic motion. The apparatus and methods include using an imaging device, acquiring a plurality of images of the tool inside the portion of the body, at respective phases of the cyclic motion. Using at least one computer processor, an extent of movement of the tool with respect to the portion of the body that is due to the cyclic motion of the portion of the body is determined. In response thereto, an output is generated that is indicative of the determined extent of the movement of the tool with respect to the portion of the body. Other applications are also described.
A61B 5/05 - Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fieldsMeasuring using microwaves or radio waves
A61B 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A61B 6/00 - Apparatus or devices for radiation diagnosisApparatus or devices for radiation diagnosis combined with radiation therapy equipment
A61B 5/02 - Detecting, measuring or recording for evaluating the cardiovascular system, e.g. pulse, heart rate, blood pressure or blood flow
A61B 5/11 - Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
A61B 5/06 - Devices, other than using radiation, for detecting or locating foreign bodies
A61B 5/00 - Measuring for diagnostic purposes Identification of persons
A61B 6/12 - Arrangements for detecting or locating foreign bodies
A61B 5/349 - Detecting specific parameters of the electrocardiograph cycle
A61B 5/055 - Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fieldsMeasuring using microwaves or radio waves involving electronic [EMR] or nuclear [NMR] magnetic resonance, e.g. magnetic resonance imaging
A61B 5/107 - Measuring physical dimensions, e.g. size of the entire body or parts thereof
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
22.
Co-use of endoluminal data and extraluminal imaging
Apparatus and methods are described for use with an endoluminal data-acquisition device having a radiopaque portion coupled thereto, including, while the endoluminal data-acquisition device is being moved through the lumen, acquiring a plurality of endoluminal data points of the lumen using the endoluminal data-acquisition device. A combined extraluminal image of the lumen is generated that contains images of the radiopaque portion at first and second locations within the lumen, by co-registering first and second extraluminal images with each other. At least one location on the combined extraluminal image is identified as corresponding to a location within the lumen at which a given one of the endoluminal data points was acquired, by identifying the first and second locations of the radiopaque portion within the combined extraluminal image. An output is generated, in response thereto. Other applications are also described.
A61B 5/05 - Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fieldsMeasuring using microwaves or radio waves
A61B 5/06 - Devices, other than using radiation, for detecting or locating foreign bodies
A61B 8/12 - Diagnosis using ultrasonic, sonic or infrasonic waves in body cavities or body tracts, e.g. by using catheters
A61B 19/00 - Instruments, implements or accessories for surgery or diagnosis not covered by any of the groups A61B 1/00-A61B 18/00, e.g. for stereotaxis, sterile operation, luxation treatment, wound edge protectors(protective face masks A41D 13/11; surgeons' or patients' gowns or dresses A41D 13/12; devices for carrying-off, for treatment of, or for carrying-over, body liquids A61M 1/00)
A61B 5/00 - Measuring for diagnostic purposes Identification of persons
Apparatus and methods are described including designating within an image of blood vessels of a subject, a target portion of the blood vessels. In response to a first input from a user that designates a single point on the image, a first location within the blood vessels in a vicinity of the designated point is designated. In response to second and third inputs from the user, proximal and distal locations within the target portion are designated. The target portion is designated such that the target portion passes from the proximal location of the target portion to the distal location of the target portion, and such that the target portion includes the first location. Quantitative vessel analysis is performed on the target portion of the blood vessels, and an output is generated based upon the quantitative vessel analysis. Other applications are also described.
A61B 5/05 - Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fieldsMeasuring using microwaves or radio waves
A61B 19/00 - Instruments, implements or accessories for surgery or diagnosis not covered by any of the groups A61B 1/00-A61B 18/00, e.g. for stereotaxis, sterile operation, luxation treatment, wound edge protectors(protective face masks A41D 13/11; surgeons' or patients' gowns or dresses A41D 13/12; devices for carrying-off, for treatment of, or for carrying-over, body liquids A61M 1/00)
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
Apparatus and methods are described for use with an input angiogram image of a device inserted inside a portion of subject's body, the angiogram image being acquired in the presence of contrast agent. At least one processor (11) includes background-image-generation functionality (13) configured to generate a background image in which a relative value is assigned to a first pixel with respect to a second pixel, at least partially based upon relative values of surroundings of the first pixel and the surroundings of the second pixel in the input image. Cleaned-image-generation functionality (14) generates a cleaned image in which visibility of the radiopaque portions of the device is increased relative to the input image, by dividing the input image by the background image. Output-generation functionality (15) drives a display (16) to display an output based upon the cleaned image. Other applications are also described.
Apparatus and methods are described for use with a plurality of angiographic image frames of a moving lumen of a subject, including aligning the image frames with each other. Using the aligned image frames, a time it takes a contrast agent to travel a known distance through the lumen is determined. At least partially in response thereto, a characteristic of the lumen is determined, and, in response to the determined characteristic, an output is generated on a display. Other applications are also described.
A61B 17/22 - Implements for squeezing-off ulcers or the like on inner organs of the bodyImplements for scraping-out cavities of body organs, e.g. bonesSurgical instruments, devices or methods for invasive removal or destruction of calculus using mechanical vibrationsSurgical instruments, devices or methods for removing obstructions in blood vessels, not otherwise provided for
A61B 17/00 - Surgical instruments, devices or methods
Apparatus and methods are described for use with an imaging device (12) configured to acquire a set of angiographic images of a lumen. At least one processor (10) determines blood velocity within the lumen, via image processing. The processor determines a value of a flow-related parameter at the location based upon the determined blood velocity. The processor additionally receives an indication of a value of a second flow-related parameter of the subject, and determines a value of a luminal-flow-related index of the subject at the location, by determining a relationship between the value of the current flow-related parameter and the value of the second flow-related parameter. Other applications are also described.
A61B 6/00 - Apparatus or devices for radiation diagnosisApparatus or devices for radiation diagnosis combined with radiation therapy equipment
A61B 5/021 - Measuring pressure in heart or blood vessels
G16H 50/50 - ICT specially adapted for medical diagnosis, medical simulation or medical data miningICT specially adapted for detecting, monitoring or modelling epidemics or pandemics for simulation or modelling of medical disorders
G06T 5/50 - Image enhancement or restoration using two or more images, e.g. averaging or subtraction
Apparatus and methods are described for imaging a portion of a body of a subject that undergoes a motion cycle, including acquiring a plurality of image frames of the portion of the subject's body. A given feature is identified in at least some of the image frames. At least some image frames are image tracked with respect to the feature, and the image frames that have been image tracked with respect to the given feature are displayed as a stream of image frames. Visibility of a periphery of the displayed stream of image frames is at least partially reduced. Other applications are also described.
G06K 9/00 - Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
A61B 19/00 - Instruments, implements or accessories for surgery or diagnosis not covered by any of the groups A61B 1/00-A61B 18/00, e.g. for stereotaxis, sterile operation, luxation treatment, wound edge protectors(protective face masks A41D 13/11; surgeons' or patients' gowns or dresses A41D 13/12; devices for carrying-off, for treatment of, or for carrying-over, body liquids A61M 1/00)
A61B 6/12 - Arrangements for detecting or locating foreign bodies
A61B 6/00 - Apparatus or devices for radiation diagnosisApparatus or devices for radiation diagnosis combined with radiation therapy equipment
A61B 17/12 - Surgical instruments, devices or methods for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels or umbilical cord
A61B 8/00 - Diagnosis using ultrasonic, sonic or infrasonic waves
A61B 17/00 - Surgical instruments, devices or methods
A61B 17/22 - Implements for squeezing-off ulcers or the like on inner organs of the bodyImplements for scraping-out cavities of body organs, e.g. bonesSurgical instruments, devices or methods for invasive removal or destruction of calculus using mechanical vibrationsSurgical instruments, devices or methods for removing obstructions in blood vessels, not otherwise provided for
A61F 2/958 - Inflatable balloons for placing stents or stent-grafts
A61B 18/02 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by cooling, e.g. cryogenic techniques
A61B 18/24 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser the beam being directed along or through a flexible conduit, e.g. an optical fibreHand-pieces therefor with a catheter
Apparatus and methods are described including acquiring a plurality of image frames of a blood vessel of a subject, acquisition of the image frames commencing prior to injection of a contrast agent into the blood vessel. A first image frame is identified as being the image frame in which an angiographic sequence commenced by calculating a vesselness descriptor for each one of the image frames, by determining an extent to which pixels within the image frame are likely to correspond to the blood vessel, and by determining that, in the first image frame, there was an increase in the vesselness descriptor relative to at least one image frame acquired prior to the first image frame. An output is generated at least partially in response to identifying the first image frame. Other applications are also described.
G06K 9/00 - Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
A61B 19/00 - Instruments, implements or accessories for surgery or diagnosis not covered by any of the groups A61B 1/00-A61B 18/00, e.g. for stereotaxis, sterile operation, luxation treatment, wound edge protectors(protective face masks A41D 13/11; surgeons' or patients' gowns or dresses A41D 13/12; devices for carrying-off, for treatment of, or for carrying-over, body liquids A61M 1/00)
A61B 6/12 - Arrangements for detecting or locating foreign bodies
A61B 6/00 - Apparatus or devices for radiation diagnosisApparatus or devices for radiation diagnosis combined with radiation therapy equipment
A61B 17/12 - Surgical instruments, devices or methods for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels or umbilical cord
A61B 8/00 - Diagnosis using ultrasonic, sonic or infrasonic waves
A61B 17/00 - Surgical instruments, devices or methods
A61B 17/22 - Implements for squeezing-off ulcers or the like on inner organs of the bodyImplements for scraping-out cavities of body organs, e.g. bonesSurgical instruments, devices or methods for invasive removal or destruction of calculus using mechanical vibrationsSurgical instruments, devices or methods for removing obstructions in blood vessels, not otherwise provided for
A61F 2/958 - Inflatable balloons for placing stents or stent-grafts
A61B 18/02 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by cooling, e.g. cryogenic techniques
A61B 18/24 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser the beam being directed along or through a flexible conduit, e.g. an optical fibreHand-pieces therefor with a catheter
Apparatus and methods are described for use with a portion of a body of a subject including acquiring a plurality of images of the portion, and displaying one of the images. In response to receiving an input that is indicative of a given location within the image, an indication of a region within the portion is generated on the image. In response to receiving a further input, a dimension of the region that is indicated within the image is modified. In response thereto, at least one tool that is suitable for being placed at the region is identified, and/or a dimension of at least one tool that is suitable for being placed at the region is identified. An output is generated is response to the identification. Other applications are also described.
A61B 17/12 - Surgical instruments, devices or methods for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels or umbilical cord
G06T 11/60 - Editing figures and textCombining figures or text
A61B 8/00 - Diagnosis using ultrasonic, sonic or infrasonic waves
A61B 17/00 - Surgical instruments, devices or methods
A61B 17/22 - Implements for squeezing-off ulcers or the like on inner organs of the bodyImplements for scraping-out cavities of body organs, e.g. bonesSurgical instruments, devices or methods for invasive removal or destruction of calculus using mechanical vibrationsSurgical instruments, devices or methods for removing obstructions in blood vessels, not otherwise provided for
A61F 2/958 - Inflatable balloons for placing stents or stent-grafts
A61B 18/02 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by cooling, e.g. cryogenic techniques
A61B 18/24 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser the beam being directed along or through a flexible conduit, e.g. an optical fibreHand-pieces therefor with a catheter
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
30.
Coregistration of endoluminal data points with values of a luminal-flow-related index
Apparatus and methods are described for use with an endoluminal data-acquisition device configured to be moved through a lumen of a subject's body, and a two-dimensional angiographic image of the lumen. A value of a luminal-flow-related index of the subject is determined non-invasively at a plurality of locations along the lumen, at least partially by performing image processing on the angiographic image. While the endoluminal data-acquisition device is being moved through the lumen, a set of endoluminal data points of the lumen at a plurality of locations within the lumen is acquired, using the endoluminal data-acquisition device. It is determined that respective endoluminal data points correspond to respective locations along the lumen, and, in response thereto, it is determined that respective endoluminal data points correspond to respective values of the luminal flow-related index. Other applications are also described.
A61B 5/021 - Measuring pressure in heart or blood vessels
G16H 50/50 - ICT specially adapted for medical diagnosis, medical simulation or medical data miningICT specially adapted for detecting, monitoring or modelling epidemics or pandemics for simulation or modelling of medical disorders
G06T 5/50 - Image enhancement or restoration using two or more images, e.g. averaging or subtraction
Apparatus and methods are described including, while an endoluminal data-acquisition device is being moved through a subject's lumen, acquiring a plurality of endoluminal data points of the lumen using the endoluminal data-acquisition device. It is determined that respective endoluminal data points correspond to respective locations along the lumen. A display is driven to display at least some of the plurality of endoluminal data points in a stack. While a second endoluminal device is inside the lumen, a current location of at least a portion of the second endoluminal device with respect to the lumen is determined. In response thereto, an image of the second endoluminal device is displayed within the stack, at a location within the stack corresponding to the current location of the second endoluminal device. Other applications are also described.
Apparatus and methods are described including, while an endoluminal data-acquisition device is being moved through a lumen of a subject, acquiring a plurality of endoluminal data points of the lumen using the endoluminal data-acquisition device. It is determined that, at least one location, no endoluminal data point was acquired. An output is generated using at least a portion of the plurality of endoluminal data points of the lumen acquired using the endoluminal data-acquisition device, the output including an indication that no endoluminal data point was acquired at the location. Other applications are also described.
A61B 5/05 - Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fieldsMeasuring using microwaves or radio waves
A61B 5/06 - Devices, other than using radiation, for detecting or locating foreign bodies
A61B 5/00 - Measuring for diagnostic purposes Identification of persons
A61B 8/12 - Diagnosis using ultrasonic, sonic or infrasonic waves in body cavities or body tracts, e.g. by using catheters
G06T 7/33 - Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
33.
Apparatus and methods for determining a plurality of local calibration factors for an image
Apparatus and methods are described including acquiring a first set of extraluminal images of a lumen, using an extraluminal imaging device. At least one of the first set of images is designated as a roadmap image. While an endoluminal device is being moved through the lumen, a second set of extraluminal images is acquired. A plurality of features that are visible within images belonging to the second set of extraluminal images are identified. In response to the identified features in the images belonging to the second set of extraluminal images, a plurality of local calibration factors associated with respective portions of the roadmap image are determined. Other applications are also described.
A61B 19/00 - Instruments, implements or accessories for surgery or diagnosis not covered by any of the groups A61B 1/00-A61B 18/00, e.g. for stereotaxis, sterile operation, luxation treatment, wound edge protectors(protective face masks A41D 13/11; surgeons' or patients' gowns or dresses A41D 13/12; devices for carrying-off, for treatment of, or for carrying-over, body liquids A61M 1/00)
34.
Apparatus and methods for mapping a sequence of images to a roadmap image
Apparatus and methods are described including a processor (20) configured to receive first and second sets of extraluminal images of a lumen, the second set being acquired while an endoluminal device is being moved through the lumen. The processor designates at least one of the first set of images as a roadmap image, and designates, within the lumen in the roadmap image, a roadmap pathway (42). A plurality of features (44, 46, 48, 50) that are visible within at least some of the second set of extraluminal images are identified, and an arrangement of three or more of the features within the image are compared to a shape of at least a portion of the roadmap pathway. Based upon the comparing, the identified features are mapped to locations along the roadmap pathway within the roadmap image. Other applications are also described.
A61B 5/06 - Devices, other than using radiation, for detecting or locating foreign bodies
A61B 8/12 - Diagnosis using ultrasonic, sonic or infrasonic waves in body cavities or body tracts, e.g. by using catheters
G06T 7/33 - Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
35.
Apparatus and methods for determining a dimension of a portion of a stack of endoluminal data points
Apparatus and methods are described including, while an endoluminal data-acquisition device is being moved through a lumen, acquiring a plurality of endoluminal data points of the lumen using the endoluminal data-acquisition device. The endoluminal data points are displayed in a stack, and are co-registered to respective locations along the lumen in an extraluminal image of the lumen. Based upon the co-registering of the endoluminal data points to respective locations along the lumen in the extraluminal image of the lumen, a parameter of a portion of the lumen that corresponds to a portion of the stack of endoluminal data points is determined. An output is generated in response thereto. Other applications are also described.
A61B 1/06 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopesIlluminating arrangements therefor with illuminating arrangements
A61B 5/06 - Devices, other than using radiation, for detecting or locating foreign bodies
A61B 5/00 - Measuring for diagnostic purposes Identification of persons
A61B 8/12 - Diagnosis using ultrasonic, sonic or infrasonic waves in body cavities or body tracts, e.g. by using catheters
A61B 19/00 - Instruments, implements or accessories for surgery or diagnosis not covered by any of the groups A61B 1/00-A61B 18/00, e.g. for stereotaxis, sterile operation, luxation treatment, wound edge protectors(protective face masks A41D 13/11; surgeons' or patients' gowns or dresses A41D 13/12; devices for carrying-off, for treatment of, or for carrying-over, body liquids A61M 1/00)
36.
Accounting for non-uniform longitudinal motion during movement of an endoluminal imaging probe
Apparatus and methods are provided including, while an endoluminal data-acquisition device is being moved through a lumen of a subject, acquiring a plurality of endoluminal data points of the lumen using the endoluminal data-acquisition device. At at least one location it is determined that an event occurred, the event causing the endoluminal data-acquisition device not to acquire a single endoluminal data point at the location. The endoluminal data points are displayed in a stack, in which the endoluminal data points are positioned at locations corresponding to relative locations within the lumen at which the endoluminal data points were acquired, and in which the event is accounted for. Other applications are also described.
A61B 5/00 - Measuring for diagnostic purposes Identification of persons
A61B 19/00 - Instruments, implements or accessories for surgery or diagnosis not covered by any of the groups A61B 1/00-A61B 18/00, e.g. for stereotaxis, sterile operation, luxation treatment, wound edge protectors(protective face masks A41D 13/11; surgeons' or patients' gowns or dresses A41D 13/12; devices for carrying-off, for treatment of, or for carrying-over, body liquids A61M 1/00)
A61B 8/12 - Diagnosis using ultrasonic, sonic or infrasonic waves in body cavities or body tracts, e.g. by using catheters
A61B 5/06 - Devices, other than using radiation, for detecting or locating foreign bodies
Apparatus and methods are described for use with an imaging device (12) configured to acquire a set of angiographic images of a lumen. At least one processor (10) includes blood- velocity-determination functionality (16) that determines blood velocity within the lumen, via image processing. Current-flow-related-parameter-determination functionality (18) determines a value of a flow-related parameter at the location based upon the determined blood velocity. Flow-related-parameter-receiving functionality (19) receives an indication of a value of a second flow-related parameter of the subject, and index- determination functionality (21) determines a value of a luminal-flow-related index of the subject at the location, by determining a relationship between the value of the current flow- related parameter and the value of the second flow-related parameter. Other applications are also described.
Apparatus and methods are described for imaging a portion of a body of a subject that undergoes a motion cycle. A plurality of image frames of the portion are acquired. The image frames are enhanced with respect to a first given feature of the image frames, by (a) image tracking the image frames with respect to the first given feature, (b) identifying a second given feature in each of the image frames, and (c) in response to the identifying, reducing visibility of the second given feature in the image frames. The image frames that (a) have been image tracked with respect to the first given feature, and (b) have had reduced therein the visibility of the second given feature, are displayed as a stream of image frames. Other embodiments are also described.
Apparatus and methods are described for imaging a portion of a body of a subject that undergoes a motion cycle, including acquiring a plurality of image frames of the portion of the subject's body. A given feature is identified in at least some of the image frames. At least some image frames are image tracked with respect to the feature, and the image frames that have been image tracked with respect to the given feature are displayed as a stream of image frames. Visibility of a periphery of the displayed stream of image frames is at least partially reduced, by applying a mask to the displayed stream of image frames. Other applications are also described.
Apparatus and methods are described including a processor (20) configured to receive first and second sets of extraluminal images of a lumen, the second set being acquired while an endoluminal device is being moved through the lumen. The processor designates at least one of the first set of images as a roadmap image, and designates, within the lumen in the roadmap image, a roadmap pathway (42). A plurality of features (44, 46, 48, 50) that are visible within at least some of the second set of extraluminal images are identified, and an arrangement of three or more of the features within the image are compared to a shape of at least a portion of the roadmap pathway. Based upon the comparing, the identified features are mapped to locations along the roadmap pathway within the roadmap image. Other applications are also described.
Apparatus and methods are described for use with an input angiogram image of a device inserted inside a portion of subject's body, the angiogram image being acquired in the presence of contrast agent. At least one processor (11) includes background-image-generation functionality (13) configured to generate a background image in which a relative value is assigned to a first pixel with respect to a second pixel, at least partially based upon relative values of surroundings of the first pixel and the surroundings of the second pixel in the input image. Cleaned-image-generation functionality (14) generates a cleaned image in which visibility of the radiopaque portions of the device is increased relative to the input image, by dividing the input image by the background image. Output-generation functionality (15) drives a display (16) to display an output based upon the cleaned image. Other applications are also described.
A61B 5/055 - Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fieldsMeasuring using microwaves or radio waves involving electronic [EMR] or nuclear [NMR] magnetic resonance, e.g. magnetic resonance imaging
Apparatus and methods are described for use with an image of blood vessels of a subject. In response to a user designating a single point on the image (a) a target portion of a blood vessel is automatically identified in the vicinity of the designated point, and (b) quantitative vessel analysis is performed on the target portion of the blood vessel. An output is generated based upon the quantitative vessel analysis. Other embodiments are also described.
Apparatus and methods are provided for use with an endoluminal data-acquisition device (31) that acquires a set of endoluminal data-points of a lumen of a subject's body at respective locations inside the lumen, a second endoluminal device, and a display configured to display images. At least one processor includes location-association functionality that associates a given data point acquired by the endoluminal data-acquisition device with a given location within the lumen. Location-determination functionality determines, by means of image processing, in an extraluminal image of the second endoluminal device, a current location of at least a portion of the second endoluminal device. Display-driving functionality drives the display to display an indication of the endoluminal data point associated with the location, in response to determining that the portion of the second device is currently at the location. Other applications are also described.
Apparatus and methods are described for use with an endoluminal data-acquisition device configured to be moved through a lumen, the device having a radiopaque marker coupled thereto. While the device is being moved through the lumen (a) endoluminal data points of the lumen are acquired using the device, (b) contrast agent is continuously injected into the lumen, and (c) angiographic images of the device are acquired. It is determined that endoluminal data points correspond to respective locations within the lumen, by determining locations of the radiopaque marker within the angiographic images of the lumen, by performing image processing on the angiographic images, the locations of the radiopaque marker within the angiographic images of the lumen corresponding to respective endoluminal data points. Other applications are also described.
A61B 5/05 - Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fieldsMeasuring using microwaves or radio waves
A61B 5/06 - Devices, other than using radiation, for detecting or locating foreign bodies
A61B 8/12 - Diagnosis using ultrasonic, sonic or infrasonic waves in body cavities or body tracts, e.g. by using catheters
A61B 5/00 - Measuring for diagnostic purposes Identification of persons
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
45.
Automatic display of previously-acquired endoluminal images
Apparatus and methods are provided for use with an endoluminal data-acquisition device that acquires a set of endoluminal data-points of a lumen of a subject's body at respective locations inside the lumen, a second endoluminal device, and a display configured to display images. At least one processor includes location-association functionality that associates a given data point acquired by the endoluminal data-acquisition device with a given location within the lumen. Location-determination functionality determines, by means of image processing, in an extraluminal image of the second endoluminal device, a current location of at least a portion of the second endoluminal device. Display-driving functionality drives the display to display an indication of the endoluminal data point associated with the location, in response to determining that the portion of the second device is currently at the location. Other applications are also described.
G09G 5/36 - Control arrangements or circuits for visual indicators common to cathode-ray tube indicators and other visual indicators characterised by the display of individual graphic patterns using a bit-mapped memory
G06T 19/20 - Editing of 3D images, e.g. changing shapes or colours, aligning objects or positioning parts
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopesIlluminating arrangements therefor
A61B 6/12 - Arrangements for detecting or locating foreign bodies
A61F 2/82 - Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
A61B 17/22 - Implements for squeezing-off ulcers or the like on inner organs of the bodyImplements for scraping-out cavities of body organs, e.g. bonesSurgical instruments, devices or methods for invasive removal or destruction of calculus using mechanical vibrationsSurgical instruments, devices or methods for removing obstructions in blood vessels, not otherwise provided for
A61B 17/00 - Surgical instruments, devices or methods
A61F 2/958 - Inflatable balloons for placing stents or stent-grafts
A61B 5/00 - Measuring for diagnostic purposes Identification of persons
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
Apparatus and methods are provided for imaging a tool inside a portion of a subject's body that undergoes motion. A plurality of image frames of the portion are acquired. An image frame in which the tool is enhanced is generated by (a) identifying radiopaque markers in the image frames, (b) identifying edge lines in a vicinity of the markers within the image frames, the edge lines corresponding to contours of the tool, (c) in response to the identifying of the edge lines, selecting a subset of the image frames that are based upon the acquired image frames, based upon a level of similarity between the edge lines in the selected image frames to one another, (d) aligning the contours in a plurality of the selected image frames, and (e) averaging the plurality of aligned frames to generate an averaged image frame. Other applications are also described.
A61B 17/00 - Surgical instruments, devices or methods
A61B 17/22 - Implements for squeezing-off ulcers or the like on inner organs of the bodyImplements for scraping-out cavities of body organs, e.g. bonesSurgical instruments, devices or methods for invasive removal or destruction of calculus using mechanical vibrationsSurgical instruments, devices or methods for removing obstructions in blood vessels, not otherwise provided for
A61F 2/82 - Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
A61F 2/958 - Inflatable balloons for placing stents or stent-grafts
A61B 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
47.
IDENTIFICATION AND PRESENTATION OF DEVICE-TO-VESSEL RELATIVE MOTION
Apparatus and methods are provided for use with a tool that is inserted into a portion of a body of a subject that undergoes cyclic motion. A plurality of native images of the tool inside the portion of the body are acquired, at respective phases of the cyclic motion. The native images are stabilized with respect to a feature of the portion of the body. In response to stabilizing the native images, an output is generated that is indicative of an extent of movement of the tool with respect to the portion of the body. Other embodiments are also described.
Apparatus and methods are provided, including displaying an image of one or more lumens of a subject. A processor includes lumen-identification functionality configured to automatically identify one or more lumens in the image. Envelope-designation functionality of the processor designates as lumen envelopes, portions of the image in vicinities of respective lumens. In response to the user designating a location inside a lumen envelope of a given lumen, via an input device, the location corresponding to a given longitudinal location within the given lumen, feature-generation functionality of the processor generates a feature on the image that corresponds to the given longitudinal location. An output is displayed in response to the generated feature. Other embodiments are also described.
Apparatus and methods are described for receiving into at least one processor at least one image of blood vessels of a subject. Using image processing, discontinuous lines that correspond to paths of at least a portion of the blood vessels in the image are automatically derived, the lines having end points at discontinuities in the lines. Continuous lines that correspond to the paths of the portion of the blood vessels in the image are automatically generated by bridging the discontinuities in the discontinuous lines. An output is generated by the processor, based on the continuous lines. Other embodiments are also described.
Apparatus and methods are described including acquiring a plurality of image frames of a portion of a subject's body. At least one of the image frames is designated as a baseline image frame, a shape of the portion in the first baseline image frame being designated as a baseline shape. A non-baseline-shape image frame is deformed, such that the shape of the portion becomes more similar to the baseline shape of the portion than when the portion in the non-baseline-shape image frame is not deformed. A composite image is formed that is of higher clarity with respect to anatomy of the portion, relative to each of the acquired image frames, by averaging at least the deformed non-baseline-shape image frame with the baseline image frame. The composite image is displayed on a display. Other applications are also described.
A61B 5/05 - Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fieldsMeasuring using microwaves or radio waves
A61B 19/00 - Instruments, implements or accessories for surgery or diagnosis not covered by any of the groups A61B 1/00-A61B 18/00, e.g. for stereotaxis, sterile operation, luxation treatment, wound edge protectors(protective face masks A41D 13/11; surgeons' or patients' gowns or dresses A41D 13/12; devices for carrying-off, for treatment of, or for carrying-over, body liquids A61M 1/00)
A61B 6/12 - Arrangements for detecting or locating foreign bodies
A61B 6/00 - Apparatus or devices for radiation diagnosisApparatus or devices for radiation diagnosis combined with radiation therapy equipment
G06K 9/00 - Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
A61B 17/12 - Surgical instruments, devices or methods for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels or umbilical cord
A61B 8/00 - Diagnosis using ultrasonic, sonic or infrasonic waves
A61B 17/00 - Surgical instruments, devices or methods
A61B 17/22 - Implements for squeezing-off ulcers or the like on inner organs of the bodyImplements for scraping-out cavities of body organs, e.g. bonesSurgical instruments, devices or methods for invasive removal or destruction of calculus using mechanical vibrationsSurgical instruments, devices or methods for removing obstructions in blood vessels, not otherwise provided for
A61F 2/958 - Inflatable balloons for placing stents or stent-grafts
A61B 18/02 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by cooling, e.g. cryogenic techniques
A61B 18/24 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser the beam being directed along or through a flexible conduit, e.g. an optical fibreHand-pieces therefor with a catheter
51.
Automatic correction and utilization of a vascular roadmap comprising a tool
Apparatus and methods are described including generating a road map of a blood vessel. Subsequent to the generation of the road map, a tool is inserted into the blood vessel. While the tool is inside the blood vessel, the position of the tool is determined. The road map is modified to account for the determined position of the tool. Other embodiments are also described.
A61B 6/00 - Apparatus or devices for radiation diagnosisApparatus or devices for radiation diagnosis combined with radiation therapy equipment
A61B 19/00 - Instruments, implements or accessories for surgery or diagnosis not covered by any of the groups A61B 1/00-A61B 18/00, e.g. for stereotaxis, sterile operation, luxation treatment, wound edge protectors(protective face masks A41D 13/11; surgeons' or patients' gowns or dresses A41D 13/12; devices for carrying-off, for treatment of, or for carrying-over, body liquids A61M 1/00)
A61B 6/12 - Arrangements for detecting or locating foreign bodies
G06K 9/00 - Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
A61B 17/12 - Surgical instruments, devices or methods for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels or umbilical cord
A61B 8/00 - Diagnosis using ultrasonic, sonic or infrasonic waves
A61B 17/00 - Surgical instruments, devices or methods
A61B 17/22 - Implements for squeezing-off ulcers or the like on inner organs of the bodyImplements for scraping-out cavities of body organs, e.g. bonesSurgical instruments, devices or methods for invasive removal or destruction of calculus using mechanical vibrationsSurgical instruments, devices or methods for removing obstructions in blood vessels, not otherwise provided for
A61F 2/958 - Inflatable balloons for placing stents or stent-grafts
A61B 18/02 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by cooling, e.g. cryogenic techniques
A61B 18/24 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser the beam being directed along or through a flexible conduit, e.g. an optical fibreHand-pieces therefor with a catheter
52.
Automatic enhancement of an image stream of a moving organ and displaying as a movie
Apparatus and methods are described for imaging a portion of a body of a subject that undergoes motion. A plurality of image frames of the portion are acquired. A stream of image frames is generated in which a vicinity of a given feature of the image frames is enhanced, by (a) automatically identifying the given feature in each of the image frames, (b) aligning the given feature in two or more of the image frames, (c) averaging sets of two or more of the aligned frames to generate a plurality of averaged image frames, and (d) displaying as a stream of image frames the plurality of averaged image frames. Other embodiments are also described.
A61B 5/05 - Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fieldsMeasuring using microwaves or radio waves
G06K 9/00 - Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
A61M 5/00 - Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular wayAccessories therefor, e.g. filling or cleaning devices, arm rests
A61B 6/12 - Arrangements for detecting or locating foreign bodies
A61B 8/00 - Diagnosis using ultrasonic, sonic or infrasonic waves
A61B 17/00 - Surgical instruments, devices or methods
A61B 17/22 - Implements for squeezing-off ulcers or the like on inner organs of the bodyImplements for scraping-out cavities of body organs, e.g. bonesSurgical instruments, devices or methods for invasive removal or destruction of calculus using mechanical vibrationsSurgical instruments, devices or methods for removing obstructions in blood vessels, not otherwise provided for
A61F 2/958 - Inflatable balloons for placing stents or stent-grafts
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
53.
Automatic reduction of interfering elements from an image stream of a moving organ
Apparatus and methods are described for imaging a portion of a body of a subject that undergoes a motion cycle. A plurality of image frames of the portion are acquired. The image frames are enhanced with respect to a first given feature of the image frames, by (a) image tracking the image frames with respect to the first given feature, (b) identifying a second given feature in each of the image frames, and (c) in response to the identifying, reducing visibility of the second given feature in the image frames. The image frames that (a) have been image tracked with respect to the first given feature, and (b) have had reduced therein the visibility of the second given feature, are displayed as a stream of image frames. Other embodiments are also described.
Apparatus and methods are described for receiving into at least one processor a set of images of blood vessels of a subject. A road map of the subject's blood vessels is generated, by automatically (a) deriving at least one image from the set of images of the blood vessels, based upon visibility of at least a portion of the blood vessels in the set of images, and (b) in the derived image, determining a location of edge lines of at least some of the portion of the blood vessels in the image. An output is generated by the processor, based on the road map. Other embodiments are also described.
A61B 17/12 - Surgical instruments, devices or methods for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels or umbilical cord
G06T 11/60 - Editing figures and textCombining figures or text
A61B 8/00 - Diagnosis using ultrasonic, sonic or infrasonic waves
A61B 17/00 - Surgical instruments, devices or methods
A61B 17/22 - Implements for squeezing-off ulcers or the like on inner organs of the bodyImplements for scraping-out cavities of body organs, e.g. bonesSurgical instruments, devices or methods for invasive removal or destruction of calculus using mechanical vibrationsSurgical instruments, devices or methods for removing obstructions in blood vessels, not otherwise provided for
A61F 2/958 - Inflatable balloons for placing stents or stent-grafts
A61B 18/02 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by cooling, e.g. cryogenic techniques
A61B 18/24 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser the beam being directed along or through a flexible conduit, e.g. an optical fibreHand-pieces therefor with a catheter
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
55.
Automatic stabilization of a frames of image stream of a moving organ having intracardiac or intravascular tool in the organ that is displayed in movie format
Apparatus and methods are described for imaging a tool inside a portion of a subject's body that undergoes motion. A plurality of image frames are acquired of the portion of the subject's body. The image frames are image tracked by (a) automatically identifying at least a feature of the tool in at least a portion of the image frames, and (b) aligning the tool in image frames of the portion of the image frames, based on the automatic identifying. The image-tracked image frames of the portion of the subject's body are displayed as an image stream. Other embodiments are also described.
G06T 7/246 - Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
G06T 7/62 - Analysis of geometric attributes of area, perimeter, diameter or volume
A61B 6/12 - Arrangements for detecting or locating foreign bodies
A61B 6/00 - Apparatus or devices for radiation diagnosisApparatus or devices for radiation diagnosis combined with radiation therapy equipment
A61B 17/12 - Surgical instruments, devices or methods for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels or umbilical cord
G06K 9/00 - Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
A61B 8/00 - Diagnosis using ultrasonic, sonic or infrasonic waves
A61B 17/00 - Surgical instruments, devices or methods
A61B 17/22 - Implements for squeezing-off ulcers or the like on inner organs of the bodyImplements for scraping-out cavities of body organs, e.g. bonesSurgical instruments, devices or methods for invasive removal or destruction of calculus using mechanical vibrationsSurgical instruments, devices or methods for removing obstructions in blood vessels, not otherwise provided for
A61F 2/958 - Inflatable balloons for placing stents or stent-grafts
A61B 18/02 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by cooling, e.g. cryogenic techniques
A61B 18/24 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser the beam being directed along or through a flexible conduit, e.g. an optical fibreHand-pieces therefor with a catheter
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
56.
Automatic quantitative vessel analysis at the location of an automatically-detected tool
Apparatus and methods are described including inserting a tool into a blood vessel, and, while the tool is within the blood vessel, acquiring an extraluminal image of the blood vessel. In the extraluminal image of the blood vessel, a location of a portion of the tool with respect to the blood vessel is detected automatically. In response to detecting the location of the portion of the tool, a target portion of the blood vessel that is in a vicinity of the portion of the tool is designated automatically. Using the extraluminal image, quantitative vessel analysis is performed on the target portion of the blood vessel. Other embodiments are also described.
A61B 17/12 - Surgical instruments, devices or methods for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels or umbilical cord
G06T 11/60 - Editing figures and textCombining figures or text
A61B 8/00 - Diagnosis using ultrasonic, sonic or infrasonic waves
A61B 17/00 - Surgical instruments, devices or methods
A61B 17/22 - Implements for squeezing-off ulcers or the like on inner organs of the bodyImplements for scraping-out cavities of body organs, e.g. bonesSurgical instruments, devices or methods for invasive removal or destruction of calculus using mechanical vibrationsSurgical instruments, devices or methods for removing obstructions in blood vessels, not otherwise provided for
A61F 2/958 - Inflatable balloons for placing stents or stent-grafts
A61B 18/02 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by cooling, e.g. cryogenic techniques
A61B 18/24 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser the beam being directed along or through a flexible conduit, e.g. an optical fibreHand-pieces therefor with a catheter
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
57.
Pre-deployment positioning of an implantable device within a moving organ
Apparatus and methods are described for deploying an implantable tool at an implantation location of a blood vessel. The tool is placed at the implantation location in a non-deployed configuration. A plurality of image frames are acquired of the non-deployed tool at the implantation location, during respective phases of the vessel's motion cycle. A stabilized image stream is generated of the non-deployed tool at the implantation location. It is determined based upon the stabilized image stream of the non-deployed tool that, during the vessel's motion cycle, the tool moves from the implantation location by a given distance in a first direction. Movement of the tool by the given distance is accounted for, by deploying the tool at a deployment location that is distant from the implantation location in the opposite direction to the first direction. Other embodiments are also described.
A61B 5/05 - Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fieldsMeasuring using microwaves or radio waves
A61B 19/00 - Instruments, implements or accessories for surgery or diagnosis not covered by any of the groups A61B 1/00-A61B 18/00, e.g. for stereotaxis, sterile operation, luxation treatment, wound edge protectors(protective face masks A41D 13/11; surgeons' or patients' gowns or dresses A41D 13/12; devices for carrying-off, for treatment of, or for carrying-over, body liquids A61M 1/00)
A61B 6/12 - Arrangements for detecting or locating foreign bodies
A61B 6/00 - Apparatus or devices for radiation diagnosisApparatus or devices for radiation diagnosis combined with radiation therapy equipment
G06K 9/00 - Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
A61B 17/12 - Surgical instruments, devices or methods for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels or umbilical cord
A61B 8/00 - Diagnosis using ultrasonic, sonic or infrasonic waves
A61B 17/00 - Surgical instruments, devices or methods
A61B 17/22 - Implements for squeezing-off ulcers or the like on inner organs of the bodyImplements for scraping-out cavities of body organs, e.g. bonesSurgical instruments, devices or methods for invasive removal or destruction of calculus using mechanical vibrationsSurgical instruments, devices or methods for removing obstructions in blood vessels, not otherwise provided for
A61F 2/958 - Inflatable balloons for placing stents or stent-grafts
A61B 18/02 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by cooling, e.g. cryogenic techniques
A61B 18/24 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser the beam being directed along or through a flexible conduit, e.g. an optical fibreHand-pieces therefor with a catheter
58.
Automatic tracking of a tool upon a vascular roadmap
Apparatus and methods are described including generating a road map of a blood vessel in a portion of a subject's body. A given feature that is within the portion of the subject's body is identified in the road map, the given feature being visible even in images of the portion the generation of which does not include use of a contrast agent. A tool is inserted into the blood vessel, and a current location of a portion of the tool is determined with respect to the given feature, by imaging the tool and the feature. In response to the determined current location, a current position of the tool within the road map is determined. In response to determining the current position of the tool within the road map, the current position of the tool with respect to the road map is displayed. Other embodiments are also described.
A61B 17/12 - Surgical instruments, devices or methods for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels or umbilical cord
G06T 11/60 - Editing figures and textCombining figures or text
A61B 8/00 - Diagnosis using ultrasonic, sonic or infrasonic waves
A61B 17/00 - Surgical instruments, devices or methods
A61B 17/22 - Implements for squeezing-off ulcers or the like on inner organs of the bodyImplements for scraping-out cavities of body organs, e.g. bonesSurgical instruments, devices or methods for invasive removal or destruction of calculus using mechanical vibrationsSurgical instruments, devices or methods for removing obstructions in blood vessels, not otherwise provided for
A61F 2/958 - Inflatable balloons for placing stents or stent-grafts
A61B 18/02 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by cooling, e.g. cryogenic techniques
A61B 18/24 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser the beam being directed along or through a flexible conduit, e.g. an optical fibreHand-pieces therefor with a catheter
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
59.
IMAGE PROCESSING AND TOOL ACTUATION FOR MEDICAL PROCEDURES
Apparatus and methods are provided for receiving into at least one processor a set of images of blood vessels of a subject. A road map of the subject's blood vessels is generated, by automatically (a) deriving at least one image from the set of images of the blood vessels, based upon visibility of at least a portion of the blood vessels in the set of images, and (b) in the derived image, determining a location of edge lines (24) of at least some of the portion of the blood vessels in the image. An output is generated by the processor, based on the road map. Other applications are also described.
Apparatus is provided, including a sensor for sensing a phase of cyclic activity of a body system of the subject. A tool modulator of the apparatus includes a gate configured: in a first cycle of the cyclic activity, to allow movement of a tool, in response to the cyclic activity being at a first given phase thereof, following the given phase in the first cycle and prior to an occurrence of the given phase in a subsequent cycle of the cyclic activity, to inhibit the movement of the tool, and in a second cycle of the cyclic activity, subsequent to the inhibiting of the movement, to allow movement of the tool, in response to the second cycle of the cyclic activity being at the given phase thereof. An accumulation facilitator facilitates an accumulation of the tool in the tool modulator, and/or an accumulation of energy in the tool.
Apparatus is described for use with a portion of a subject's body that moves as a result of cyclic activity of a body system. An imaging device (11) acquires a plurality of image frames of the portion. A sensor (12) senses a phase of the cyclic activity. A medical tool (67) performs a function with respect to the portion. A control unit (63) generates a stabilized set of image frames of the medical tool disposed within the portion, actuates the tool to perform the function or move, in response to the sensor sensing that the cyclic activity is at a given phase thereof, and inhibits the tool from performing the action or moving in response to the sensor sensing that the cyclic activity is not at the given phase. A display (15) facilitates use of the tool by displaying the stabilized set of image frames.
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopesIlluminating arrangements therefor
patents
